Vivien van Veldhuizen / Mbed 2 deprecated Signa-bot

Signa-bot code for project BioRobotics, at University of Twente.

Dependencies:   mbed QEI MODSERIAL FastPWM ttmath Math

Motor_tryout.cpp@28:43a1d67ff8ea, 2019-10-29 (annotated)

Committer:
viviien
Date:
Tue Oct 29 12:05:47 2019 +0000
Revision:
28:43a1d67ff8ea
Parent:
27:3eb181cbe183
Child:
29:7eb028b359a1
PI problems

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Feike 4:bd21569250c7 1 #include "mbed.h"
Feike 8:017b813c72bb 2 #include "MODSERIAL.h"
Feike 12:2382468d36a4 3 #include "QEI.h"
Feike 18:ab0fe311e7f3 4 #include "Math.h"
Feike 18:ab0fe311e7f3 5 #include "ttmath.h"
Feike 18:ab0fe311e7f3 6
Feike 17:6da57acb7bea 7 MODSERIAL pc(USBTX, USBRX);
Feike 18:ab0fe311e7f3 8 //Serial term (USBTX, USBRX);
Feike 17:6da57acb7bea 9 PwmOut motor1_pwm(PTC2);
Feike 17:6da57acb7bea 10 DigitalOut motor1_dir(PTC3);
Feike 18:ab0fe311e7f3 11 PwmOut motor2_pwm(PTA2);
Feike 18:ab0fe311e7f3 12 DigitalOut motor2_dir(PTB23);
Feike 18:ab0fe311e7f3 13 PwmOut motor3_pwm(PTC4);
Feike 18:ab0fe311e7f3 14 DigitalOut motor3_dir(PTC12);
Feike 4:bd21569250c7 15
viviien 23:18b0be02187f 16 QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING);
viviien 23:18b0be02187f 17 QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);
viviien 23:18b0be02187f 18 QEI Encoder3(D2,D3,NC,64,QEI::X4_ENCODING);
Feike 7:e119b12e5e7f 19
viviien 25:eb3204e45d33 20 float steps1 = 0;
viviien 25:eb3204e45d33 21 float steps2 = 0;
viviien 25:eb3204e45d33 22 float steps3 = 0;
Feike 19:9c8ab7922191 23 int check;
Feike 13:18dd7a15603f 24 int quit;
Feike 19:9c8ab7922191 25 int limit_pos = 8400;
Feike 19:9c8ab7922191 26 float steps;
Feike 19:9c8ab7922191 27 int g = 0;
Feike 19:9c8ab7922191 28
Feike 19:9c8ab7922191 29 bool check1;
Feike 19:9c8ab7922191 30 bool check2;
Feike 19:9c8ab7922191 31 bool check3;
Feike 18:ab0fe311e7f3 32 int counts1 = 0;
Feike 18:ab0fe311e7f3 33 int counts2 = 0;
Feike 18:ab0fe311e7f3 34 int counts3 = 0;
viviien 27:3eb181cbe183 35
Feike 13:18dd7a15603f 36
Feike 18:ab0fe311e7f3 37 const float le = 15.0;
Feike 18:ab0fe311e7f3 38 const float f = 37.5;
Feike 18:ab0fe311e7f3 39 const float re = 174.0;
Feike 18:ab0fe311e7f3 40 const float rf = 50.0;
Feike 18:ab0fe311e7f3 41 const float pi = 3.14159265358979323846;
viviien 22:9f911405e096 42 const float cospi = -0.5;
viviien 22:9f911405e096 43 const float sinpi = 0.8660254;
Feike 18:ab0fe311e7f3 44 float y2;
Feike 18:ab0fe311e7f3 45 float y1;
Feike 18:ab0fe311e7f3 46 float z1;
Feike 18:ab0fe311e7f3 47 float z2;
Feike 18:ab0fe311e7f3 48 float rje2;
Feike 18:ab0fe311e7f3 49 float rje;
Feike 18:ab0fe311e7f3 50 float r2;
Feike 18:ab0fe311e7f3 51 float r;
Feike 19:9c8ab7922191 52
Feike 18:ab0fe311e7f3 53 float z0=-172;
Feike 18:ab0fe311e7f3 54 float y0=0;
Feike 18:ab0fe311e7f3 55 float x0=0;
viviien 21:c826abca79c3 56 float x00;
viviien 21:c826abca79c3 57 float y00;
viviien 21:c826abca79c3 58 float z00;
Feike 19:9c8ab7922191 59
Feike 18:ab0fe311e7f3 60 float theta1;
Feike 18:ab0fe311e7f3 61 float theta2;
Feike 18:ab0fe311e7f3 62 float theta3;
Feike 18:ab0fe311e7f3 63 float oldtheta1=0;
Feike 18:ab0fe311e7f3 64 float oldtheta2=0;
Feike 18:ab0fe311e7f3 65 float oldtheta3=0;
Feike 19:9c8ab7922191 66
viviien 28:43a1d67ff8ea 67 // Constant values for PI
viviien 28:43a1d67ff8ea 68 double Kp = 17.5;
viviien 28:43a1d67ff8ea 69 double Ki = 1.02;
viviien 28:43a1d67ff8ea 70 double Ts = 0.0025;
viviien 28:43a1d67ff8ea 71 float new_steps1 = 0;
viviien 28:43a1d67ff8ea 72 float error1 = 0;
viviien 28:43a1d67ff8ea 73
viviien 27:3eb181cbe183 74 Ticker pulses;
viviien 27:3eb181cbe183 75 void getpulses() {
viviien 23:18b0be02187f 76 counts1 = Encoder1.getPulses();
viviien 23:18b0be02187f 77 counts2 = Encoder2.getPulses();
viviien 23:18b0be02187f 78 counts3 = Encoder3.getPulses();
viviien 23:18b0be02187f 79 }
viviien 25:eb3204e45d33 80
viviien 28:43a1d67ff8ea 81
viviien 28:43a1d67ff8ea 82
viviien 21:c826abca79c3 83 float delta_calcangleyz(float x00, float y00, float z00) {
viviien 21:c826abca79c3 84 float y2 = y00 + le;
Feike 18:ab0fe311e7f3 85 float y1 = f;
Feike 18:ab0fe311e7f3 86 float z1 = 0.0;
viviien 21:c826abca79c3 87 float z2 = z00;
viviien 21:c826abca79c3 88 float rje2 = re*re - x00*x00;
Feike 18:ab0fe311e7f3 89 float rje = sqrt(rje2);
viviien 22:9f911405e096 90 float r2 = (y1-y2)*(y1-y2) + (z1-z00)*(z1-z00);
Feike 18:ab0fe311e7f3 91 float r = sqrt(r2);
Feike 18:ab0fe311e7f3 92
Feike 19:9c8ab7922191 93 if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r)) {
Feike 19:9c8ab7922191 94 int check = 1;
Feike 19:9c8ab7922191 95 pc.printf("\n\rPunt bestaat niet");
Feike 19:9c8ab7922191 96 }
Feike 19:9c8ab7922191 97 else {
Feike 19:9c8ab7922191 98 float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r));
Feike 19:9c8ab7922191 99 float beta = atan((z1-z2)/(y1-y2));
Feike 19:9c8ab7922191 100 if(beta<0) {
Feike 18:ab0fe311e7f3 101 beta = beta + pi;
Feike 18:ab0fe311e7f3 102 }
Feike 19:9c8ab7922191 103 float theta1 = (beta - alpha)*180.0/pi;
Feike 19:9c8ab7922191 104 return theta1;
viviien 28:43a1d67ff8ea 105 }
viviien 22:9f911405e096 106 }
viviien 28:43a1d67ff8ea 107
viviien 28:43a1d67ff8ea 108
Feike 18:ab0fe311e7f3 109
viviien 21:c826abca79c3 110 float delta_calcinverse(float x00, float y00, float z00) {
viviien 21:c826abca79c3 111 theta1 = theta2 = theta3 = 0;
viviien 22:9f911405e096 112 x00=x0;
viviien 22:9f911405e096 113 y00=y0;
viviien 22:9f911405e096 114 z00=z0;
viviien 21:c826abca79c3 115 theta1 = delta_calcangleyz(x00, y00, z00);
viviien 21:c826abca79c3 116
viviien 21:c826abca79c3 117 if (check == 0) {
viviien 21:c826abca79c3 118 x00=x0*cospi+y0*sinpi;
viviien 21:c826abca79c3 119 y00=y0*cospi-x0*sinpi;
viviien 21:c826abca79c3 120 z00=z0;
viviien 22:9f911405e096 121 theta2 = delta_calcangleyz(x00, y00, z00);
viviien 21:c826abca79c3 122 x00=x0*cospi-y0*sinpi;
viviien 21:c826abca79c3 123 y00=y0*cospi+y0*sinpi;
viviien 21:c826abca79c3 124 z00=z0;
viviien 22:9f911405e096 125 theta3 = delta_calcangleyz(x00, y00, z00);
viviien 21:c826abca79c3 126 }
viviien 21:c826abca79c3 127
viviien 21:c826abca79c3 128 return theta1, theta2, theta3;
Feike 18:ab0fe311e7f3 129 }
Feike 18:ab0fe311e7f3 130
viviien 28:43a1d67ff8ea 131 //double error;
viviien 28:43a1d67ff8ea 132 float PI_controller()
viviien 28:43a1d67ff8ea 133 {
viviien 28:43a1d67ff8ea 134 float error1 = steps1-counts1;
viviien 28:43a1d67ff8ea 135 static double error1_integral = 0;
viviien 28:43a1d67ff8ea 136
viviien 28:43a1d67ff8ea 137 // Proportional part
viviien 28:43a1d67ff8ea 138 double u_k = Kp * error1;
viviien 28:43a1d67ff8ea 139
viviien 28:43a1d67ff8ea 140 // Integral part
viviien 28:43a1d67ff8ea 141 error1_integral = error1_integral + error1 * Ts;
viviien 28:43a1d67ff8ea 142 double u_i = Ki * error1_integral;
viviien 28:43a1d67ff8ea 143
viviien 28:43a1d67ff8ea 144 // Sum all parts and return it
viviien 28:43a1d67ff8ea 145 return u_k + u_i;
viviien 28:43a1d67ff8ea 146 }
Feike 12:2382468d36a4 147
viviien 28:43a1d67ff8ea 148 // Calculate the steps from angle
Feike 19:9c8ab7922191 149 float anglestep(float angle) {
Feike 18:ab0fe311e7f3 150 float steps;
Feike 18:ab0fe311e7f3 151 steps = angle / 360 * 8400;
Feike 18:ab0fe311e7f3 152 return steps;
Feike 17:6da57acb7bea 153 }
Feike 17:6da57acb7bea 154
viviien 28:43a1d67ff8ea 155 // Omschrijving
viviien 28:43a1d67ff8ea 156 float movefunctioninit () {
viviien 21:c826abca79c3 157
viviien 22:9f911405e096 158 theta1 = delta_calcinverse(x00,y00,z00);
viviien 21:c826abca79c3 159 pc.printf("\n\r de hoeken zijn(%f, %f, %f)", theta1, theta2, theta3);
viviien 21:c826abca79c3 160 pc.printf("\n\r coordinaten(%f, %f, %f)", x0, y0, z0);
viviien 21:c826abca79c3 161
viviien 21:c826abca79c3 162 theta1 = theta1 - oldtheta1;
viviien 21:c826abca79c3 163 theta2 = theta2 - oldtheta2;
viviien 21:c826abca79c3 164 theta3 = theta3 - oldtheta3;
viviien 21:c826abca79c3 165
viviien 25:eb3204e45d33 166 steps1 = anglestep(theta1);
viviien 25:eb3204e45d33 167 steps2 = anglestep(theta2);
viviien 25:eb3204e45d33 168 steps3 = anglestep(theta3);
viviien 27:3eb181cbe183 169 pc.printf("\n\rsteps1 %f, steps2 %f, steps3 %f", steps1, steps2, steps3);
viviien 28:43a1d67ff8ea 170
viviien 28:43a1d67ff8ea 171
viviien 28:43a1d67ff8ea 172 pc.printf("\n\r error1: %f", error1);
viviien 28:43a1d67ff8ea 173 new_steps1 = PI_controller();
viviien 28:43a1d67ff8ea 174 pc.printf("\n\rnew steps1: %f", new_steps1);
viviien 27:3eb181cbe183 175
viviien 21:c826abca79c3 176 // Set the direction of the motors.
viviien 21:c826abca79c3 177 if (theta1 < 0) {
viviien 21:c826abca79c3 178 motor1_dir.write(1);
viviien 21:c826abca79c3 179 }
viviien 28:43a1d67ff8ea 180 else {
viviien 28:43a1d67ff8ea 181 motor1_dir.write(0);
viviien 28:43a1d67ff8ea 182 }
viviien 21:c826abca79c3 183
viviien 21:c826abca79c3 184 if (theta2 < 0) {
viviien 21:c826abca79c3 185 motor2_dir.write(0);
viviien 21:c826abca79c3 186 }
viviien 28:43a1d67ff8ea 187 else {
viviien 28:43a1d67ff8ea 188 motor2_dir.write(1);
viviien 28:43a1d67ff8ea 189 }
viviien 21:c826abca79c3 190
viviien 21:c826abca79c3 191 if (theta3 < 0) {
viviien 21:c826abca79c3 192 motor3_dir.write(0);
viviien 21:c826abca79c3 193 }
viviien 28:43a1d67ff8ea 194 else {
viviien 28:43a1d67ff8ea 195 motor3_dir.write(1);
viviien 28:43a1d67ff8ea 196 }
viviien 21:c826abca79c3 197
viviien 21:c826abca79c3 198 int frequency_pwm = 10000; //10 kHz PWM
viviien 21:c826abca79c3 199 motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f
viviien 27:3eb181cbe183 200 motor1_pwm.write(0.57); // write Duty Cycle
viviien 21:c826abca79c3 201
viviien 21:c826abca79c3 202 motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f
viviien 27:3eb181cbe183 203 motor2_pwm.write(0.57); // write Duty Cycle
viviien 21:c826abca79c3 204
viviien 21:c826abca79c3 205 motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f
viviien 27:3eb181cbe183 206 motor3_pwm.write(0.57); // write Duty Cycle
viviien 22:9f911405e096 207
viviien 22:9f911405e096 208 check1 = true;
viviien 22:9f911405e096 209 check2 = true;
viviien 22:9f911405e096 210 check3 = true;
viviien 25:eb3204e45d33 211
viviien 27:3eb181cbe183 212 Encoder1.reset();
viviien 27:3eb181cbe183 213 Encoder2.reset();
viviien 27:3eb181cbe183 214 Encoder3.reset();
viviien 28:43a1d67ff8ea 215 }
viviien 25:eb3204e45d33 216
viviien 28:43a1d67ff8ea 217 // Omschrijving
viviien 27:3eb181cbe183 218 float movefunction() {
viviien 27:3eb181cbe183 219
viviien 21:c826abca79c3 220 while (check1 || check2 || check3) {
viviien 25:eb3204e45d33 221 pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3);
viviien 25:eb3204e45d33 222
viviien 27:3eb181cbe183 223 if(abs(counts1)>=abs(steps1)) {
viviien 25:eb3204e45d33 224 pc.printf("\n 1 is false");
viviien 21:c826abca79c3 225 motor1_pwm.write(0);
viviien 28:43a1d67ff8ea 226 check1=false;
viviien 27:3eb181cbe183 227 pc.printf("\n\rcounts1 %i", counts1);
viviien 21:c826abca79c3 228 }
viviien 28:43a1d67ff8ea 229
viviien 27:3eb181cbe183 230 if (abs(counts2)>=abs(steps2)) {
viviien 24:61d03692f92e 231 pc.printf("\n 2 is false");
viviien 21:c826abca79c3 232 motor2_pwm.write(0);
viviien 21:c826abca79c3 233 check2=false;
viviien 27:3eb181cbe183 234 pc.printf("\n\rcounts2 %i", counts2);
viviien 21:c826abca79c3 235 }
viviien 28:43a1d67ff8ea 236
viviien 27:3eb181cbe183 237 if (abs(counts3)>=abs(steps3)) {
viviien 24:61d03692f92e 238 pc.printf("\n 3 is false");
viviien 21:c826abca79c3 239 motor3_pwm.write(0);
viviien 21:c826abca79c3 240 check3=false;
viviien 27:3eb181cbe183 241 pc.printf("\n\rcounts3 %i", counts3);
viviien 21:c826abca79c3 242 }
viviien 27:3eb181cbe183 243 }
viviien 27:3eb181cbe183 244 pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3);
viviien 25:eb3204e45d33 245
viviien 27:3eb181cbe183 246 wait(3.0);
viviien 25:eb3204e45d33 247 pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3);
viviien 22:9f911405e096 248 }
viviien 22:9f911405e096 249
viviien 28:43a1d67ff8ea 250
viviien 28:43a1d67ff8ea 251 ///////////////////
viviien 28:43a1d67ff8ea 252 // MAIN FUNCTION //
viviien 28:43a1d67ff8ea 253 ///////////////////
viviien 28:43a1d67ff8ea 254
viviien 22:9f911405e096 255 int main(void) {
viviien 26:432d3519ba86 256
viviien 28:43a1d67ff8ea 257 pc.baud(115200);
Feike 17:6da57acb7bea 258 char cc = pc.getc();
Feike 19:9c8ab7922191 259
viviien 28:43a1d67ff8ea 260 while(true){
viviien 28:43a1d67ff8ea 261 pulses.attach(&getpulses, 1.0/10000);
viviien 28:43a1d67ff8ea 262
viviien 28:43a1d67ff8ea 263 Encoder1.reset();
viviien 28:43a1d67ff8ea 264 Encoder2.reset();
viviien 28:43a1d67ff8ea 265 Encoder3.reset();
viviien 28:43a1d67ff8ea 266 counts1 = Encoder1.getPulses();
viviien 28:43a1d67ff8ea 267 counts2 = Encoder2.getPulses();
viviien 28:43a1d67ff8ea 268 counts3 = Encoder3.getPulses();
viviien 28:43a1d67ff8ea 269
viviien 28:43a1d67ff8ea 270 delta_calcinverse(x0,y0,z0);
viviien 26:432d3519ba86 271
viviien 28:43a1d67ff8ea 272 oldtheta1 = theta1;
viviien 28:43a1d67ff8ea 273 oldtheta2 = theta2;
viviien 28:43a1d67ff8ea 274 oldtheta3 = theta3;
viviien 28:43a1d67ff8ea 275
viviien 28:43a1d67ff8ea 276 char cc = pc.getc();
viviien 28:43a1d67ff8ea 277
viviien 28:43a1d67ff8ea 278 if (cc=='d') {
viviien 28:43a1d67ff8ea 279 x0=x0+5.0f;
viviien 28:43a1d67ff8ea 280 if (x0>=-75 && x0<=75){
viviien 28:43a1d67ff8ea 281 movefunctioninit ();
viviien 28:43a1d67ff8ea 282 movefunction ();
viviien 28:43a1d67ff8ea 283 }
viviien 28:43a1d67ff8ea 284 else {
viviien 28:43a1d67ff8ea 285 x0=x0-5.0f;
viviien 28:43a1d67ff8ea 286 }
viviien 22:9f911405e096 287 }
viviien 28:43a1d67ff8ea 288
viviien 28:43a1d67ff8ea 289 if (cc=='a') {
viviien 28:43a1d67ff8ea 290 x0=x0-5.0f;
viviien 28:43a1d67ff8ea 291 if (x0>=-75 && x0<=75){
viviien 28:43a1d67ff8ea 292 movefunctioninit ();
viviien 28:43a1d67ff8ea 293 movefunction ();
viviien 28:43a1d67ff8ea 294 }
viviien 28:43a1d67ff8ea 295 else {
viviien 28:43a1d67ff8ea 296 x0=x0+5.0f;
viviien 21:c826abca79c3 297 }
viviien 28:43a1d67ff8ea 298 }
viviien 28:43a1d67ff8ea 299
viviien 28:43a1d67ff8ea 300 if (cc=='w'){
viviien 28:43a1d67ff8ea 301 y0=y0+5.0f;
viviien 28:43a1d67ff8ea 302 if (y0>=-75 && y0<=75){
viviien 28:43a1d67ff8ea 303 movefunctioninit ();
viviien 28:43a1d67ff8ea 304 movefunction ();
viviien 28:43a1d67ff8ea 305 }
viviien 28:43a1d67ff8ea 306 else {
viviien 28:43a1d67ff8ea 307 y0=y0-5.0f;
viviien 21:c826abca79c3 308 }
viviien 28:43a1d67ff8ea 309 }
viviien 28:43a1d67ff8ea 310
viviien 28:43a1d67ff8ea 311 if (cc=='s'){
viviien 28:43a1d67ff8ea 312 y0=y0-5.0f;
viviien 28:43a1d67ff8ea 313 if (y0>=-75 && y0<=75) {
viviien 28:43a1d67ff8ea 314 movefunctioninit ();
viviien 28:43a1d67ff8ea 315 movefunction ();
viviien 28:43a1d67ff8ea 316 }
viviien 28:43a1d67ff8ea 317 else {
viviien 28:43a1d67ff8ea 318 y0=y0+5.0f;
Feike 19:9c8ab7922191 319 }
viviien 28:43a1d67ff8ea 320 }
viviien 28:43a1d67ff8ea 321
viviien 28:43a1d67ff8ea 322 if (cc=='u')
viviien 28:43a1d67ff8ea 323 {
viviien 28:43a1d67ff8ea 324 z0=z0+5.0f;
viviien 28:43a1d67ff8ea 325 if (z0>=-210 && z0<=-130) {
viviien 28:43a1d67ff8ea 326 movefunctioninit ();
viviien 28:43a1d67ff8ea 327 movefunction ();
viviien 28:43a1d67ff8ea 328 }
viviien 28:43a1d67ff8ea 329 else{
viviien 28:43a1d67ff8ea 330 z0=z0-5.0f;
viviien 21:c826abca79c3 331 }
viviien 28:43a1d67ff8ea 332 }
viviien 28:43a1d67ff8ea 333
viviien 28:43a1d67ff8ea 334 if (cc=='j')
viviien 28:43a1d67ff8ea 335 {
viviien 28:43a1d67ff8ea 336 z0=z0-5.0f;
viviien 28:43a1d67ff8ea 337 if (z0>=-210 && z0<=-130){
viviien 28:43a1d67ff8ea 338 movefunctioninit ();
viviien 28:43a1d67ff8ea 339 movefunction ();
viviien 28:43a1d67ff8ea 340 }
viviien 28:43a1d67ff8ea 341 else {
viviien 28:43a1d67ff8ea 342 z0=z0+5.0f;
viviien 28:43a1d67ff8ea 343 }
viviien 28:43a1d67ff8ea 344 }
viviien 28:43a1d67ff8ea 345 // end while
viviien 21:c826abca79c3 346 }
viviien 28:43a1d67ff8ea 347 // end main
viviien 22:9f911405e096 348 }